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ACM: config.h = updated default gains

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More yaw rate control
This commit is contained in:
Jason Short 2012-08-09 16:48:38 -07:00
parent b5156185cc
commit 3e57f8afd8
1 changed files with 22 additions and 18 deletions
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18
ArduCopter/config.h
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@ -76,6 +76,10 @@
#ifndef FRAME_ORIENTATION #ifndef FRAME_ORIENTATION
# define FRAME_ORIENTATION X_FRAME # define FRAME_ORIENTATION X_FRAME
#endif #endif
#ifndef TOY_EDF
# define TOY_EDF DISABLED
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// IMU Selection // IMU Selection
@ -690,33 +694,33 @@
// Stabilize Rate Control // Stabilize Rate Control
// //
#ifndef RATE_ROLL_P #ifndef RATE_ROLL_P
# define RATE_ROLL_P 0.18 # define RATE_ROLL_P 0.185
#endif #endif
#ifndef RATE_ROLL_I #ifndef RATE_ROLL_I
# define RATE_ROLL_I 0.0 # define RATE_ROLL_I 0.0
#endif #endif
#ifndef RATE_ROLL_D #ifndef RATE_ROLL_D
# define RATE_ROLL_D 0.005 # define RATE_ROLL_D 0.008
#endif #endif
#ifndef RATE_ROLL_IMAX #ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 5.0 // degrees # define RATE_ROLL_IMAX 5.0 // degrees
#endif #endif
#ifndef RATE_PITCH_P #ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.18 # define RATE_PITCH_P 0.185
#endif #endif
#ifndef RATE_PITCH_I #ifndef RATE_PITCH_I
# define RATE_PITCH_I 0.0 # define RATE_PITCH_I 0.0
#endif #endif
#ifndef RATE_PITCH_D #ifndef RATE_PITCH_D
# define RATE_PITCH_D 0.005 # define RATE_PITCH_D 0.008
#endif #endif
#ifndef RATE_PITCH_IMAX #ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 5.0 // degrees # define RATE_PITCH_IMAX 5.0 // degrees
#endif #endif
#ifndef RATE_YAW_P #ifndef RATE_YAW_P
# define RATE_YAW_P .13 # define RATE_YAW_P .25
#endif #endif
#ifndef RATE_YAW_I #ifndef RATE_YAW_I
# define RATE_YAW_I 0.02 # define RATE_YAW_I 0.02
@ -811,7 +815,7 @@
# define ALT_HOLD_P 0.3 // .5 # define ALT_HOLD_P 0.3 // .5
#endif #endif
#ifndef ALT_HOLD_I #ifndef ALT_HOLD_I
# define ALT_HOLD_I 0.038 # define ALT_HOLD_I 0.04
#endif #endif
#ifndef ALT_HOLD_IMAX #ifndef ALT_HOLD_IMAX
# define ALT_HOLD_IMAX 300 # define ALT_HOLD_IMAX 300
@ -825,7 +829,7 @@
# define THROTTLE_I 0.03 # define THROTTLE_I 0.03
#endif #endif
#ifndef THROTTLE_D #ifndef THROTTLE_D
# define THROTTLE_D 0.0 // # define THROTTLE_D 0.0
#endif #endif
#ifndef THROTTLE_IMAX #ifndef THROTTLE_IMAX
# define THROTTLE_IMAX 300 # define THROTTLE_IMAX 300